The invention discloses a city scene-oriented automatic driving variable neighborhood searching and trajectory planning method, which relates to the technical field of automatic driving control, and comprises the following steps of: positioning a vehicle according to surrounding environment perception and a high-precision positioning device; performing mathematical description on rectangular and trapezoidal neighborhoods; performing trajectory planning and optimization on the search of the neighborhood of the independent interval; ensuring the continuity and stability of the track under the variable neighborhood search by using an average residence time method; on the premise of variable neighborhood search, according to traffic signs in an urban complex road scene, in combination with dynamic constraints of vehicles, trajectory planning of vehicle driving is carried out, and trajectory planning is divided into planning in a single neighborhood and complete trajectory planning in the urban complex road scene. The stability of switching of different tracks is ensured in complete track planning, so that the differential information capturing capability and the path planning and control capability of the intelligent vehicle in a complex scene of an urban intersection are improved, and the driving safety of the intelligent vehicle is improved.
本发明公开了一种面向城市场景的自动驾驶变邻域搜索及轨迹规划方法,涉自动驾驶控制技术领域,包括以下步骤:根据周围环境感知和高精度定位装置对车辆进行定位;对矩形和梯形邻域进行数学描述;对独立区间邻域的搜索进行轨迹规划及优化;利用平均驻留时间法保证变邻域搜索下轨迹的连续性和稳定性;本发明在基于在可变邻域搜索的前提下,根据城市复杂道路场景下的交通标识,结合车辆的动力学约束,进行车辆行驶的轨迹规划,并将轨迹规划分为单个邻域内的规划和城市复杂道路场景下完整的轨迹规划,在完整轨迹规划中保证不同轨迹切换的稳定性,从而提高智能车面对城市交叉口复杂场景下对微分信息捕获能力以及路径的规划与控制能力,提高智能车的行驶安全性。
Urban scene-oriented automatic driving variable neighborhood searching and trajectory planning method
一种面向城市场景的自动驾驶变邻域搜索及轨迹规划方法
18.04.2025
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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